CN202133655U - Online automatic detecting sorting equipment for quality of incubated eggs - Google Patents
Online automatic detecting sorting equipment for quality of incubated eggs Download PDFInfo
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- CN202133655U CN202133655U CN201120175517U CN201120175517U CN202133655U CN 202133655 U CN202133655 U CN 202133655U CN 201120175517 U CN201120175517 U CN 201120175517U CN 201120175517 U CN201120175517 U CN 201120175517U CN 202133655 U CN202133655 U CN 202133655U
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Abstract
The utility model discloses an online automatic detecting sorting equipment for quality of incubated eggs and relates to the field of an egg detecting technology. The equipment comprises an egg transporting device (100), an egg lighting device (200), an egg absorbing device (300), an egg discharging device (400), a perceiving module (500), a vision module (600), a control module (700) and an execution module (800); and the egg transporting device (100), the egg lighting device (200), the egg absorbing device (300) and the egg discharging device (400) are connected in sequence. A computer vision technology is used to be matched with a mechanical execution mechanism; intelligent, nondestructive detection and automatic sorting for the quality of a whole disc of the incubated eggs are realized through a series of image processing and pattern recognition. The online automatic detecting sorting equipment for the quality of the incubated eggs has rational and feasible design; the operation is convenient; the effect is obvious; therefore, the online automatic detecting sorting equipment is suitable for egg incubating and quality detecting industries and further can be applied for detecting the other agricultural products; therefore, the online automatic detecting sorting equipment has excellent futures of application and popularization.
Description
Technical field
The utility model relates to birds, beasts and eggs detection technique field, relates in particular to a kind of incubated egg quality online automatic detection screening installation.Specifically, the utility model is that a kind of hatching egg product that comprises transmits, shines egg, inhales egg and go out the equipment of the software and hardware of egg in one, realizes discerning rapidly and accurately the active and sorting automatically of one-tenth of incubated egg, for hatching enterprise a kind of green test equipment is provided.
Background technology
China is birds, beasts and eggs production and consumption big country, and the hatching industry is the strong backing of birds, beasts and eggs market supply.Data show according to statistics, and the hatching of breeding eggs success ratio is about 82-90%, if can pick out the egg that can not hatch as early as possible, but with big time saver, space, the energy and labour.
Relevant incubated egg Quality Detection technology is the research focus always, adopts photoelectric method and computer vision method mostly:
1, photoelectric method
Sui Jidong (1999) and in the article of " hatching once differentiate infertile egg with photoelectric method in early days " and " hatching is in early days with two kinds of methods of photoelectric method rejecting infertile egg ", introduced respectively in Jing Bin (2002); Utilize homemade electrooptical device to detect the method for infertile egg, related patent U.S. Patent No. is not appeared in the newspapers.
2, computer vision method
Yang Xiukun (1997), Chen Jiajuan (2000) and Yu Zhihong (2006) reach " identification of self-adaptation population neural network is planted egg and become active " lining PhD dissertation " the artificial intelligence approach research in the quality of agricultural product detection ", " adopting computer vision to hatch the automatic detection that egg becomes possibility alive " respectively and have introduced the research based on the kind egg detection method of vision; Method is similar; All adopt the vision technique images acquired, use the nerual network technique modeling.But all only be directed against the static analysis of single piece of incubated egg.
Patent " is judged the method and apparatus of sex " (CN1742569A) in early days to the embryo egg incubation of tame chicken, " the embryo egg incubation of tame chicken being judged in early days the method and apparatus of sex " (CN1742569A) (CN101672839A) discloses method and the device that utilizes visual pattern technology for detection incubated egg sex and quality respectively with " a kind of hatching of breeding eggs Quality Detection apparatus and method based on computer vision "; More than device all can only be directed against single incubated egg Static Detection; Efficient is low, can't satisfy the needs of online detection." a kind of birds, beasts and eggs surface quality detect method and device " (CN1804620) utilizes computer vision technique and acoustic technique; Detect surface qualities such as fowl egg crack, stain, deformity; The Dynamic Signal of birds, beasts and eggs is just gathered in this invention on conveyer line; The last differentiation result who only demonstrates grade fails really to realize the machinery sorting automatically of egg product.
Above-mentioned detection to the incubated egg quality, otherwise technology is single, otherwise detected object is defined as single piece of egg, and have bar none and can not detect the also defective of sorting by online whole dish.Through retrieval, the domestic online measuring technique of related detection colony incubated egg quality and the screening installation do not found as yet is applied to produce actual.
Summary of the invention
The purpose of the utility model just is to overcome the shortcoming and defect that prior art exists, and a kind of whole dish incubated egg quality online automatic detection screening installation is provided.
The purpose of the utility model is achieved in that
Utilization computer vision technique and mechanical actuating mechanism match; Through a series of Image Processing and Pattern Recognition; Realization is to the incubated egg quality and become active intelligence, Non-Destructive Testing and sorting automatically, promptly gathers colony's image of colony's incubated egg, to extracting the characteristic parameter of the different quality incubated eggs of the big sign of difference after the image analysis processing; Set up discrimination model through methods such as artificial neural networks, differentiate the quality of incubated egg and become active as template with this pattern.
Specifically, the technical scheme of the utility model is following:
One, incubated egg quality online automatic detection screening installation (abbreviation equipment)
This equipment comprise send the egg device, according to the egg device, inhale the egg device, go out egg device, sensing module, vision module, control module and execution module;
Send egg device, photograph egg device, suction egg device and go out the egg device and be connected successively;
Described sensing module is made up of photoelectric sensor;
Described vision module comprises camera and the image pick-up card that connects successively;
Described control module comprises interconnective computing machine and delay controller;
Described execution module comprises first servomotor, second servomotor and the 3rd servomotor;
First servomotor with send the egg device to be connected, second servomotor with is connected according to the egg device, the 3rd servomotor is connected with suction egg device;
Send the egg device through the restriction of the controlled module of sensing module and execution module, the motion of control travelling belt and stopping;
Link to each other controlled control module and execution module restriction simultaneously, the rise and fall of control light source shelf with vision module according to the egg device;
Inhale the restriction of controlled control module of egg device and execution module, the horizontal motion of control mechanical arm and above-below direction motion.
Two, incubated egg quality online automatic detection method for separating (abbreviation method)
This method comprises the following steps:
1. select some pieces of the incubated eggs of various qualities meticulously according to egg through manual work by the veteran master worker in hatchery;
2. be placed on all kinds of incubated eggs on the incubator tray; The each colony's image of gathering the incubated egg of whole dish of computer vision module, image library is set up in classification, carries out Flame Image Process and analysis; Extract the characteristic parameter of all kinds of eggs; Set up discrimination model, the row mode of going forward side by side is checked and is revised, and at last the pattern of optimizing is stored in the computing machine of control module;
3. select in addition and each some pieces of the same several types of incubated eggs of modeling sample egg, every type of incubated egg is carried out figure notation with pencil again;
4. mix all kinds of incubated eggs at random, be positioned in the incubator tray, let incubator tray travel forward with the travelling belt that send the egg device;
5. sensing module is sensed the signal that first incubator tray arrives; Trigger second servomotor action of execution module immediately; Make light source shelf just in setting-up time, rise to incubator tray over against the time, controlled the stopping of first servomotor of execution module, this moment light source shelf with send the controlled module controls of egg device to stop simultaneously; The camera collection image of vision module; And the Computer Analysis of sending into control module handles, and differentiates with the pattern that 2. step is set up, and the computing machine of control module will be differentiated the result and keep in;
6. controlled module controls, second servomotor action of execution module, light source shelf decline homing, the action of first servomotor is sent the egg device to carry incubator tray and is continued to move ahead;
7. sensing module is sensed second incubator tray arriving signal, and repeating step 5.; Meanwhile, send the egg device to carry the first dish incubator tray and move near inhaling the egg device, control module is controlled the action of the 3rd servomotor according to setting-up time, makes mechanical arm drive the sucker motion, grasps the egg that needs are selected according to the differentiation result of control module;
8. mechanical arm drives the vacuum cup rising and does tangential movement then, and meanwhile repeating step 6.;
9. the tangential movement of mechanical arm sucker is to the egg collection flat rubber belting top that goes out the egg device, and stop motion is put egg and egg is fallen on the egg collection flat rubber belting and transported;
10. the detection of other incubator traies and sorting repeating step 4.～step operation 9..
The principle of work of the utility model:
The utility model utilization industry camera is taken the row mode identification of going forward side by side of whole dish incubated egg colony image on the travelling belt, will differentiate the result and feed back to topworks and move, thereby detect various egg classifications.
The incubated egg incubator tray is placed on the travelling belt that send the egg device, by the signal that the photoelectric sensor of sensing module induction hatching incubator tray arrives, computing machine give respectively second obey the motor and first servomotor action command; Trigger light source shelf rise make light source and incubator tray over against, send egg device and light source shelf to stop, camera is made a video recording; Computing machine carries out after the pattern-recognition result being kept in to image, inhales egg device place when incubator tray moves to, and this moment is second incubator tray images acquired just in time; Send the egg device to stop once more; Control drives vacuum cup with execution module restriction mechanical arm and does the action of suction egg, selects egg and puts on another egg collection flat rubber belting, reaches the purpose of sorting.
The utlity model has advantage and good effect:
1,, realizes accurate location to the incubated egg incubator tray of wanting sorting through the electric-controlled mechanical transmission;
2, effectively combine the efficient processing of egg product colony image and pattern discrimination with the automatic sorting of machinery;
3, reasonable in design feasible, easy and simple to handle, effect is obvious;
4, replace human eye with machine, realize the incubated egg quality and become active can't harm to detect automatically and sorting, be applicable to egg product hatching and Quality Detection industry, also may be used on having a good promotion prospects in other the agricultural product detection.
Description of drawings
Fig. 1 is the block diagram of this equipment;
Fig. 2 is this equipment main hardware distribution schematic diagram (overlooking);
Fig. 3 is the structural representation (main looking) that send the egg device;
Fig. 4 is the structural representation (left side is looked) according to egg device and vision module;
Fig. 5 is a structural representation (main looking) of inhaling the egg device;
Fig. 6 is the structural representation (left side is looked) that the egg device;
Fig. 7 is an induction vision module process flow diagram;
Fig. 8 is the control and executive module process flow diagram.
Wherein:
000-incubator tray;
100-send the egg device,
110-mainframe, 120-travelling belt, 130-sprocket wheel, 140-supporting plate, 150-chain,
160-speed reduction unit, 170-shaft coupling;
200-according to the egg device,
210-light source shelf, 220-light source, 230-light chamber;
300-suction egg device
310-vacuum is inhaled incubator tray, 315-pneumaticpiston bar, and 320-pneumatic cylinder, 325-suction egg support,
330-smooth shaft track, 340-long tooth bar, 345-air-pressure duct, 350-air compressor;
400-go out the egg device,
410-support, 420--egg collection flat rubber belting, 430-big belt wheel, 440-small pulley, 450-belt;
500-induction module,
510-sensor;
600-vision module,
610-camera, 620-image pick-up card;
700-control module,
710-computing machine, 720-delay controller;
800-execution module,
810-the first servomotor, 820-the second servomotor, 830-the three servomotor.
Embodiment
Specify below in conjunction with accompanying drawing and embodiment:
The test specimen egg of present embodiment is provided by the agricultural chicken farm of China, and incubated egg is divided into 3 types: live embryo egg, addled egg and infertile egg, detected and sorting in the hatching later stage.
One, equipment
1, overall
Like Fig. 1,2, this equipment comprise send egg device 100, according to egg device 200, inhale egg device 300, go out egg device 400, sensing module 500, vision module 600, control module 700 and execution module 800;
Send egg device 100, photograph egg device 200, suction egg device 300 and go out egg device 400 and be connected successively;
Send egg device 100 through sensing module 500 controlled modules 700 and execution module 800 restrictions, the motion of control travelling belt 120 with stop;
Link to each other simultaneously controlled control module 700 and execution module 800 restrictions, the rise and fall of control light source shelf 210 with vision module 600 according to egg device 200;
2, functional block
1) send egg device 100
Like Fig. 3, send egg device 100 for a kind of chain transmission machinery, comprise mainframe 110, driving-belt 120, sprocket wheel 130, supporting plate 140, rough lock 150, speed reduction unit 160 and shaft coupling 170;
The left and right sides fulcrum of mainframe about in the of 110 is provided with sprocket wheel 130, travelling belt 120 parcel sprocket wheels 130, and travelling belt 120 is provided with supporting plate 140;
000 of incubator tray is on the travelling belt 120 that send egg device 100 both sides.
Principle of work:
During operation, first servomotor 810 drives sprocket wheel 130 through shaft coupling 170, speed reduction unit 160 and rough lock 150 and rotates, and sprocket wheel 130 drives travelling belt 120 and makes shuttling movement, and supporting plate 140 is asking travelling belt 120 to play supporting role; Incubator tray 000 is with travelling belt 120 motions.
2) according to egg device 200
Like Fig. 4, comprise light source shelf 210, light source 220 and the airtight smooth chamber 230 that connects successively from bottom to top according to egg device 200;
Principle of work:
3) inhale egg device 300
Like Fig. 5, inhale egg device 300 and comprise vacuum suction incubator tray 310, pneumaticpiston bar 315, pneumatic cylinder 320, inhale egg support 325, smooth shaft track 330, long tooth bar 340, air-pressure duct 345, air compressor 350;
Be provided with smooth shaft track 330 and long tooth bar 340 above inhaling in the egg support 325; By vacuum inhale that incubator tray 310, pneumaticpiston bar 315 and pneumatic cylinder 320 form mechanical arm be enclosed within on the smooth shaft track 330; The 3rd servomotor 623 is fixed on the mechanical arm, the mainshaft gear of the 3rd servomotor 623 and long tooth bar 340 engagements;
Vacuum is inhaled incubator tray 310 and is fixed together with pneumaticpiston bar 315.
Principle of work:
The horizontal back and forth movement of mechanical arm realizes that through long tooth bar 340 transmissions when 623 rotatings of the 3rd servomotor, the 3rd servomotor 623 moves along long tooth bar 340, and mechanical arm is also just along long tooth bar 340 horizontal back and forth movements;
The vertical back and forth movement utilization pneumatic transmission of mechanical arm drives pneumaticpiston through air compressor 350; And the vacuum of mechanical arm is inhaled incubator tray 310 and pneumaticpiston bar 315 is fixed together, and so just makes the vacuum of mechanical arm inhale incubator tray 310 along with pneumaticpiston bar 315 pumps.
4) go out egg device 400
Like Fig. 6, go out egg device 400 and comprise support 410, egg collection flat rubber belting 420, big belt wheel 430, small pulley 440 and belt 450;
Principle of work:
Common electric machine drives 430 runnings of big belt wheel, thereby drives the shuttling movement of egg collection flat rubber belting 420, vacuum is inhaled the egg that incubator tray 310 puts down transport.
5) sensing module 500
Like Fig. 1, sensing module 500 is made up of photoelectric sensor 510.
Like Fig. 2,3,4, photoelectric sensor 510 is installed in mainframe 110 both sides of sending egg device 100, near light chamber 230 directions, is used for responding to the position of the incubator tray 000 of F.F. light inlet chamber 230.
6) vision module 600
Like Fig. 1,4, vision module 600 comprises the camera 610 and image pick-up card 620 that connects successively;
7) control module 700
Like Fig. 1, control module 700 comprises interconnective computing machine 710 and delay controller 720.
When computing machine 710 is received the signal that sensing module 500 sends; First servomotor 810 of control and executive module 800 and 820 actions of second servomotor; Handle image and pattern discrimination then; Again the result is fed back to execution module 800, control 830 actions of the 3rd servomotor and inhale the egg manipulator behavior.
8) execution module 800
Like Fig. 1, execution module 800 mainly comprises first servomotor 810, second servomotor 820 and the 3rd servomotor 830;
The 3rd servomotor 830 is connected with suction egg device 300, and the horizontal motion of the mechanical arm of egg device 300 is inhaled in control.
Servomotor is selected 130 support AC servo motors for use, and its function is just to change and reverse through it, makes the corresponding intrument motion, stops or changing direction of motion.
Two, method
1, sensing module and vision module flow process
Like Fig. 7, sensing module and vision module flow process are:
1. sensor 510 is sensed incubator tray 000 arriving signal-11;
2. camera 610 is gathered whole dish incubated egg image-12;
3. image pick-up card 620 transmission data are given computing machine 710-13;
4. computing machine 710 analyzing and processing images-14;
5. computing machine 710 carries out pattern-recognition-15.
2, control module and execution module flow process
Like Fig. 8, control module and execution module flow process are:
Beginning-21;
1. sensor 510 is responded to incubator tray 000 arriving signals-22;
2. trigger second servomotor 820 and start, control first servomotor 810 simultaneously and stop-23;
3. send egg travelling belt 120 to stop, light source shelf 210 rises-24;
4. camera 610 is gathered whole dish incubated egg image-25;
5. computing machine 710 control first servomotors 810 and 520 counter-rotatings-26 of second servomotor;
6. light source shelf 210 declines are returned to original position, send egg device 100 to continue to move ahead; Simultaneously, Flame Image Process and feature extraction, pattern-recognition-27;
7. next incubator tray 000 of sensor 510 inductions arrives, and the one, jump to step 2.; The 2nd, get into next step 8.-28;
8. control 830 work of the 3rd servomotor, row descends-29 then behind the mechanical arm;
9. the vacuum of mechanical arm is inhaled the egg-30 that incubator tray 310 is selected according to 000 li need of computing machine 710 instruction first incubator traies of absorption;
10. the 3rd servomotor 830 counter-rotating, mechanical arm are risen and are moved ahead then, put egg on egg collection flat rubber belting 420-31;
Jump to step 8..
Three, testing result
Experimental image is carried out after series of analysis handles, extract and analyze color parameter r, g, b, H, S, the I of experiment sample egg, find that S and the r parameter difference of three kinds of eggs is more obvious, set up to detect and concern.
Wherein S is: color parameter (saturation degree)
Wherein r is: color parameter (one of three primary colors)
The judgement of infertile egg is: S>0.8 and r >=0.045;
The judgement of addled egg is: 0.6≤S≤0.8;
The judgement of embryo egg of living is: r < 0.045 and S>0.8.
Testing result is: the discriminating accuracy of the embryo egg of wherein living is 93%, and addled egg differentiates that accuracy is 91%, and infertile egg differentiates that accuracy is 95%, differentiates that on average accuracy is 93%, reaches the requirement of egg product enterprise production.
Claims (5)
1. incubated egg quality online automatic detection screening installation is characterized in that:
This equipment comprise send egg device (100), according to egg device (200), inhale egg device (300), go out egg device (400), sensing module (500), vision module (600), control module (700) and execution module (800);
Send egg device (100), photograph egg device (200), suction egg device (300) and go out egg device (400) and be connected successively;
Described sensing module (500) is made up of photoelectric sensor (510);
Described vision module (600) comprises camera (610) and the image pick-up card (620) that connects successively;
Described control module (700) comprises interconnective computing machine (710) and delay controller (720);
Described execution module (800) comprises first servomotor (810), second servomotor (820) and the 3rd servomotor (830);
First servomotor (810) with send egg device (100) to be connected, second servomotor (820) with according to the egg device (200) is connected, the 3rd servomotor (830) with the suction egg device (300) be connected.
2. by the described incubated egg quality of claim 1 online automatic detection screening installation; It is characterized in that: the described egg device (100) that send comprises mainframe (110), driving-belt (120), sprocket wheel (130), supporting plate (140), rough lock (150), speed reduction unit (160) and shaft coupling (170) for a kind of chain transmission machinery;
Mainframe (110) left and right sides fulcrum up and down is provided with sprocket wheel (130), travelling belt (120) parcel sprocket wheel (130), and travelling belt (120) is provided with supporting plate (140);
First servomotor (810), shaft coupling (170), speed reduction unit (160), rough lock (150) and sprocket wheel (130) are connected successively;
Incubator tray (000) frame is on the travelling belt (120) that send egg device (100) both sides.
3. by the described incubated egg quality of claim 1 online automatic detection screening installation, it is characterized in that:
Describedly comprise from bottom to top the light source shelf (210) that connects successively, light source (220) and light chamber (230) according to egg device (200);
Light chamber (230) is a rectangular box, is provided with a small sircle hole in the middle of its end face;
Light source shelf (210) is connected with second servomotor (820).
4. by the described incubated egg quality of claim 1 online automatic detection screening installation, it is characterized in that: described suction egg device (300) comprises vacuum suction incubator tray (310), pneumaticpiston bar (315), pneumatic cylinder
(320), inhale egg support (325), smooth shaft track (330), long tooth bar (340), air-pressure duct (345), air compressor (350);
Suction egg device (300) is arranged on according to egg device (100) and goes out between the egg device (400), and suction egg support (325) is arranged on and send egg mainframe (110) top;
Be provided with smooth shaft track (330) and long tooth bar (340) above inhaling in the egg support (325); By vacuum inhale that incubator tray (310), pneumaticpiston bar (315) and pneumatic cylinder (320) form mechanical arm be enclosed within on the smooth shaft track (330); The 3rd servomotor (623) is fixed on the mechanical arm, the mainshaft gear of the 3rd servomotor (623) and long tooth bar (340) engagement;
Air compressor (350) links to each other with pneumatic cylinder (320) through air-pressure duct (345);
Vacuum is inhaled incubator tray (310) and is fixed together with pneumaticpiston bar (315).
5. by the described incubated egg quality of claim 1 online automatic detection screening installation, it is characterized in that:
Describedly go out egg device (400) and comprise support (410), egg collection flat rubber belting (420), big belt wheel (430), small pulley (440) and belt (450);
Big belt wheel (430) and small pulley (440) are fixed on the support (410), and egg collection flat rubber belting (420) is wrapped on two big belt wheels (430), and driving-belt (450) connects a big belt wheel (430) and a small pulley (440), through a common electric machine transferring power.
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| CN201120175517U CN202133655U (en) | 2011-05-27 | 2011-05-27 | Online automatic detecting sorting equipment for quality of incubated eggs |
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| CN201120175517U CN202133655U (en) | 2011-05-27 | 2011-05-27 | Online automatic detecting sorting equipment for quality of incubated eggs |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102611981A (en) * | 2012-03-19 | 2012-07-25 | 东莞市科伟自动化设备有限公司 | Sound film detection method and detection system for implementing detection method |
| CN103105498A (en) * | 2011-11-09 | 2013-05-15 | 青岛强星设备科技有限公司 | Full-automatic chick embryo inspection machine |
| JP2017227471A (en) * | 2016-06-20 | 2017-12-28 | 株式会社ナベル | Nondestructive inspection device of hatching egg, and hatching egg inspection program used for the same |
| CN110793970A (en) * | 2019-10-21 | 2020-02-14 | 北京海益同展信息科技有限公司 | Poultry egg dark line detection device |
| CN110930360A (en) * | 2019-10-21 | 2020-03-27 | 北京海益同展信息科技有限公司 | Egg detection method, egg image processing method, egg detection device, image processing device, electronic equipment and storage medium |
| CN110991220A (en) * | 2019-10-15 | 2020-04-10 | 北京海益同展信息科技有限公司 | Egg detection method, egg image processing method, egg detection device, egg image processing device, electronic equipment and storage medium |
| RU2759733C1 (en) * | 2020-12-16 | 2021-11-17 | Общество с ограниченной ответственностью Инженерно-технический центр "УКАВТ" | Method for detecting substandard products in egg tray |
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2011
- 2011-05-27 CN CN201120175517U patent/CN202133655U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103105498A (en) * | 2011-11-09 | 2013-05-15 | 青岛强星设备科技有限公司 | Full-automatic chick embryo inspection machine |
| CN103105498B (en) * | 2011-11-09 | 2014-07-16 | 青岛强星设备科技有限公司 | Full-automatic chick embryo inspection machine |
| CN102611981A (en) * | 2012-03-19 | 2012-07-25 | 东莞市科伟自动化设备有限公司 | Sound film detection method and detection system for implementing detection method |
| JP2017227471A (en) * | 2016-06-20 | 2017-12-28 | 株式会社ナベル | Nondestructive inspection device of hatching egg, and hatching egg inspection program used for the same |
| CN110991220A (en) * | 2019-10-15 | 2020-04-10 | 北京海益同展信息科技有限公司 | Egg detection method, egg image processing method, egg detection device, egg image processing device, electronic equipment and storage medium |
| CN110991220B (en) * | 2019-10-15 | 2023-11-07 | 京东科技信息技术有限公司 | Egg detection and image processing method and device, electronic equipment and storage medium |
| CN110793970A (en) * | 2019-10-21 | 2020-02-14 | 北京海益同展信息科技有限公司 | Poultry egg dark line detection device |
| CN110930360A (en) * | 2019-10-21 | 2020-03-27 | 北京海益同展信息科技有限公司 | Egg detection method, egg image processing method, egg detection device, image processing device, electronic equipment and storage medium |
| RU2759733C1 (en) * | 2020-12-16 | 2021-11-17 | Общество с ограниченной ответственностью Инженерно-технический центр "УКАВТ" | Method for detecting substandard products in egg tray |
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